Financial Instruments - Summary of Financial assets and Liabilities Measured at Fair Value on Recurring Basis (Details) - USD ($) $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Available-for-sale [Abstract]
Cash	$ 19,976	$ 17,980
Adjusted Cost	234,672	327,397
Unrealized Losses	(981)	(3,585)
Fair Value	233,691	323,812
Cash and cash equivalents	40,550	67,420
Marketable Securities	193,141	256,392
Warrant liabilities	22	90
Total liabilities	22	90
Fair Value, Inputs, Level 2 [Member]
Available-for-sale [Abstract]
Adjusted Cost	203,573	264,974
Unrealized Losses	(981)	(3,585)
Fair Value	202,592	261,389
Cash and cash equivalents	9,451	4,997
Marketable Securities	193,141	256,392
Fair Value, Inputs, Level 3 [Member] | Warrant Liabilities [Member]
Available-for-sale [Abstract]
Warrant liabilities	22	90
Total liabilities	22	90
Money Market Funds [Member] | Fair Value, Inputs, Level 1 [Member]
Available-for-sale [Abstract]
Adjusted Cost	11,123	44,443
Fair Value	11,123	44,443
Cash and cash equivalents	11,123	44,443
U.S. agency securities [Member] | Fair Value, Inputs, Level 2 [Member]
Available-for-sale [Abstract]
Adjusted Cost	70,918	65,493
Unrealized Losses	(499)	(1,518)
Fair Value	70,419	63,975
Marketable Securities	70,419	63,975
U.S. Treasury Securities [Member] | Fair Value, Inputs, Level 2 [Member]
Available-for-sale [Abstract]
Adjusted Cost	3,491	14,953
Unrealized Losses	(24)	(111)
Fair Value	3,467	14,842
Cash and cash equivalents	1,991
Marketable Securities	1,476	14,842
Commercial Paper [Member] | Fair Value, Inputs, Level 2 [Member]
Available-for-sale [Abstract]
Adjusted Cost	38,794	40,859
Unrealized Losses	(40)	(100)
Fair Value	38,754	40,759
Cash and cash equivalents	7,460	4,997
Marketable Securities	31,294	35,762
Corporate Bonds [Member] | Fair Value, Inputs, Level 2 [Member]
Available-for-sale [Abstract]
Adjusted Cost	90,370	143,669
Unrealized Losses	(418)	(1,856)
Fair Value	89,952	141,813
Marketable Securities	$ 89,952	$ 141,813